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CN113250905B - Fault tolerance method for faulty wind power system based on LMI underactuated sliding mode control - Google Patents

Fault tolerance method for faulty wind power system based on LMI underactuated sliding mode control Download PDF

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CN113250905B
CN113250905B CN202110751036.3A CN202110751036A CN113250905B CN 113250905 B CN113250905 B CN 113250905B CN 202110751036 A CN202110751036 A CN 202110751036A CN 113250905 B CN113250905 B CN 113250905B
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王欣
秦斌
叶永恩
秦羽新
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Hunan University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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Abstract

The invention discloses a fault-tolerant method of a fault wind power system based on LMI (linear matrix inequality) under-actuated sliding mode control, aiming at the problems of actuator constant deviation fault and actuator constant gain fault in a wind power generation system. Firstly, two different fault-tolerant controllers are designed for the constant deviation fault of an actuator and the constant gain fault of the actuator, when a certain fault occurs in the system, different active fault-tolerant systems automatically select and switch to the corresponding fault-tolerant controllers according to real-time information provided by a fault diagnosis mechanism, and multi-model fault diagnosis is completed; finally, fault-tolerant control is realized through LMI underactuated sliding mode control by constant number deviation and constant gain, so that multi-model fault diagnosis and fault-tolerant control are realized. The invention can effectively carry out fault-tolerant control on the faults of the actuator and has important significance for improving the stability of the system.

Description

基于LMI欠驱动滑模控制的故障风电系统容错方法Fault tolerance method for faulty wind power system based on LMI underactuated sliding mode control

技术领域technical field

本发明涉及的风力发电系统故障，进行独立分析讨论并根据其特点设计容错控制策略，具体的说就是一种基于LMI(线性矩阵不等式)欠驱动滑模控制的故障风电系统容错方法。The fault of the wind power generation system involved in the present invention is independently analyzed and discussed, and a fault-tolerant control strategy is designed according to its characteristics.

背景技术Background technique

随着风力发电技术的不断发展，风力发电机组的单机容量有了很大的提高，但也使得系统的结构复杂性和控制难度增加；风电场一般分布在偏远山区或海边，工作环境复杂，条件恶劣；风力发电机组在工作的时候发生故障无法避免；对风力发电系的执行器故障，通过采用LMI欠驱动滑模控制容错策略是有效的手段。With the continuous development of wind power generation technology, the single unit capacity of wind turbines has been greatly improved, but it has also increased the structural complexity and control difficulty of the system; wind farms are generally distributed in remote mountainous areas or seaside, with complex working environments and conditions. The failure of the wind turbine during operation is unavoidable; for the actuator failure of the wind power system, it is an effective means to adopt the LMI underactuated sliding mode control fault-tolerant strategy.

由于被动容错控制具有输出不连续，有较大的抖动和很大的保守性，容易损坏执行器，不能全面发挥系统的最高性能等缺点。风力发电系统的故障常采用主动容错控制，主动容错控制主要可以分为控制律重新调度、控制律重构设计和模型跟随重组控制三种类型。控制律重新调度需要对故障检测装置高灵敏度以及高准确率，而且需要对所有故障一一穷举，比较费时费力，但是也是一种比较实用的主动容错控制方法。控制律重构设计与需要对所有故障一一穷举的控制率重新调度不同，控制率重构设计的核心思想是在线实时重组容错控制律，现时最常见的控制律重构的设计方法基于神经网络的PID参数重构容错控制；模型跟随重组控制策略不论是否发生故障被控系统的输出始终以跟踪参考模型的输出的为执行目的，以自适应控制为控制手段的控制策略，近年来，基于模型跟随重组的主动容错控制策略日渐成为控制领域的研究的焦点。与被动容错控制相比，主动容错控制通过控制器重构保持系统的稳定和具有可接受的能以积极响应系统的元件故障。Passive fault-tolerant control has the disadvantages of discontinuous output, large jitter and great conservatism, easy to damage the actuator, and can not fully exert the highest performance of the system. Active fault-tolerant control is often used for faults in wind power generation systems. Active fault-tolerant control can be divided into three types: control law rescheduling, control law reconfiguration design and model following reorganization control. The control law rescheduling requires high sensitivity and high accuracy for the fault detection device, and needs to exhaustively list all faults one by one, which is time-consuming and labor-intensive, but is also a more practical active fault-tolerant control method. The control law reconfiguration design is different from the need to re-schedule the control rate exhaustively for all faults. The core idea of the control rate reconfiguration design is to reconfigure the fault-tolerant control law online in real time. The most common design method of control law reconfiguration is based on neural Fault-tolerant control of network PID parameter reconstruction; model-following reorganization control strategy regardless of whether the output of the controlled system is faulty or not, the output of the controlled system always aims to track the output of the reference model, and the control strategy uses adaptive control as the control method. In recent years, based on Active fault-tolerant control strategies based on model-following reorganization have increasingly become the focus of research in the field of control. Compared with passive fault-tolerant control, active fault-tolerant control maintains the stability of the system through controller reconfiguration and has an acceptable ability to actively respond to system component failures.

发明内容SUMMARY OF THE INVENTION

为了针对风力发电系统中的执行器恒偏差故障和执行器恒增益故障的问题，提出了一种基于LMI欠驱动滑模控制的故障风电系统容错策略，解决了风力发电系统因故障带来的一系列问题，使系统重新回到稳定状态。In order to solve the problem of actuator constant deviation fault and actuator constant gain fault in wind power generation system, a fault tolerance strategy for faulty wind power system based on LMI underactuated sliding mode control is proposed, which solves the problem of wind power generation system caused by faults. series of problems, bringing the system back to a stable state.

总共分为三个阶段：第一阶段：对执行器故障的LMI欠驱动滑模控制进行推论与证明；第二阶段：设计风力发电系统执行器恒偏差故障容错控制；第三阶段：设计发电系统执行器恒增益故障容错控制。It is divided into three stages: the first stage: inference and proof of the LMI underactuated sliding mode control of actuator failure; the second stage: the design of the wind power system actuator constant deviation fault-tolerant control; the third stage: the design of the power generation system Actuator constant gain fault tolerant control.

风力发电系统的整合模型是一个两出两入的非线性强耦合系统；整体模型如下：The integrated model of the wind power generation system is a nonlinear strong coupling system with two outputs and two inputs; the overall model is as follows:

Figure BDA0003144406110000011
Figure BDA0003144406110000011

其中，x＝[ωt,ωg,Ttw,Tg,β]T，

Figure BDA0003144406110000021
y＝[ωg,Pg]T，ωt为风机转子的转速，ωg为发电机转子的转速，Ttw为传动机构转矩，Tg为发电机的电磁转矩，
Figure BDA0003144406110000022
为按照控制要求给出发电机的电磁转矩的参考值，βd按照控制要求输出桨距角的参考值，Pg为系统的输出功率，i为齿轮箱的传动比，Jt为低速轴的转动惯量，Cp为风能利用系数，λ为叶尖速比，β是桨距角，R为风轮半径，v为有效风速，Jg为高速轴的转动惯量，ks为传动轴的刚度系数；Bs为阻尼系数，τg为系统的时间常数，τ为一阶系统的时间常数τ。where x=[ω t ,ω g ,T tw ,T g ,β] T ,
Figure BDA0003144406110000021
y=[ω g , P g ] T , ω t is the rotational speed of the fan rotor, ω g is the rotational speed of the generator rotor, T tw is the torque of the transmission mechanism, T g is the electromagnetic torque of the generator,
Figure BDA0003144406110000022
In order to give the reference value of the electromagnetic torque of the generator according to the control requirements, β d is the reference value of the output pitch angle according to the control requirements, P g is the output power of the system, i is the transmission ratio of the gearbox, and J t is the low-speed shaft. Moment of inertia, C p is the wind energy utilization coefficient, λ is the tip speed ratio, β is the pitch angle, R is the radius of the rotor, v is the effective wind speed, J g is the rotational inertia of the high-speed shaft, ks is the stiffness of the drive shaft coefficient; B s is the damping coefficient, τ g is the time constant of the system, and τ is the time constant τ of the first-order system.

模型的线性化处理，针对某一工况对空气动力转矩进行线性化处理，式子可得：For the linearization of the model, the aerodynamic torque is linearized for a certain working condition, and the formula can be obtained:

Figure BDA0003144406110000023
Figure BDA0003144406110000023

综上所述，结合式(1)至式(2)，风电系统整体模型的状态空间形式为：To sum up, combined with equations (1) to (2), the state space form of the overall model of the wind power system is:

Figure BDA0003144406110000024
Figure BDA0003144406110000024

相应系统参数如下：The corresponding system parameters are as follows:

Figure BDA0003144406110000025
Figure BDA0003144406110000025

Figure BDA0003144406110000026
Figure BDA0003144406110000026

由式(3)易知风力发电系统线性模型可知：From equation (3), it is easy to know the linear model of the wind power generation system:

Figure BDA0003144406110000031
Figure BDA0003144406110000031

其中in

x＝[ωt,ωg,Ttw,Tg,β]T，

Figure BDA0003144406110000032
y＝[ωg,Pg]T，x=[ω t ,ω g ,T tw ,T g ,β] T ,
Figure BDA0003144406110000032
y=[ω g ,P g ] T ,

Figure BDA0003144406110000033
Figure BDA0003144406110000033

Figure BDA0003144406110000034
Figure BDA0003144406110000034

Figure BDA0003144406110000035
Figure BDA0003144406110000035

Figure BDA0003144406110000036
Figure BDA0003144406110000036

其中，

Figure BDA0003144406110000037
和
Figure BDA0003144406110000038
分别为测量风速下的系统相关参数值，Tt为空气动力转矩。in,
Figure BDA0003144406110000037
and
Figure BDA0003144406110000038
are the system-related parameter values under the measured wind speed, respectively, and T t is the aerodynamic torque.

由于执行系统是一阶系统，对执行系统进行化简得：Since the execution system is a first-order system, simplify the execution system to get:

Figure BDA0003144406110000039
Figure BDA0003144406110000039

其中d1，d2分别为x1，x2达到输入参考值u1，u2之前的抖动；where d 1 and d 2 are the jitter before x 1 and x 2 reach the input reference values u 1 and u 2 respectively;

结合式(3)则有：Combining formula (3), we have:

Figure BDA00031444061100000310
Figure BDA00031444061100000310

设状态参考值为xd＝[x1d,x2d,x3d]T，xd＝0，z＝x-xd，则有：Assuming that the state reference value is x d =[x 1d , x 2d , x 3d ] T , x d =0, z=xx d , there are:

Figure BDA0003144406110000041
Figure BDA0003144406110000041

Figure BDA0003144406110000042
Figure BDA0003144406110000042

Figure BDA0003144406110000043
Figure BDA0003144406110000043

整理后得：After finishing:

Figure BDA0003144406110000044
Figure BDA0003144406110000044

其中z＝x-xd＝[x1,x2,x3]T-[x1d,x2d,x3d]T，

Figure BDA00031444061100000414
where z=xx d =[x 1 ,x 2 ,x 3 ] T -[x 1d ,x 2d ,x 3d ] T ,
Figure BDA00031444061100000414

定义滑模函数为The sliding mode function is defined as

s＝BTPz (8)s=B T Pz (8)

其中，P为3X3阶正定矩阵，通过P的设计实现s＝0；Among them, P is a 3X3 order positive definite matrix, and s=0 is realized through the design of P;

设计滑模控制器Designing a Sliding Mode Controller

u(t)＝ueq+un (9)u(t)=u eq + u n (9)

根据等效控制原理，取d＝0，则有

Figure BDA0003144406110000046
和
Figure BDA0003144406110000047
可得According to the equivalent control principle, taking d=0, there is
Figure BDA0003144406110000046
and
Figure BDA0003144406110000047
Available

Figure BDA0003144406110000048
Figure BDA0003144406110000048

从而thereby

ueq＝-(BTPB)-1BTPAz(t) (10)u eq = -(B T PB) -1 B T PAz(t) (10)

为了保证

Figure BDA0003144406110000049
取鲁棒控制项to ensure that
Figure BDA0003144406110000049
take robust control

un＝-(BTPB)-1[|BTPB|δf+ε0]sgn(s) (11)u n = -(B T PB) -1 [|B T PB|δ f +ε 0 ]sgn(s) (11)

其中δf＞d,ε0＞0。where δ f >d, ε 0 >0.

取李雅普诺夫函数Take the Lyapunov function

Figure BDA00031444061100000410
Figure BDA00031444061100000410

则有then there are

Figure BDA00031444061100000411
Figure BDA00031444061100000411

联合式(8)、式(12)和式(13)则有Combining formula (8), formula (12) and formula (13), we have

Figure BDA00031444061100000412
Figure BDA00031444061100000412

使用LMI来设计P有Using LMI to design P has

求解控制律中的对称正定阵P，将控制律式(9)写成To solve the symmetric positive definite matrix P in the control law, write the control law equation (9) as

u(t)＝-Kz(t)+v(t) (15)u(t)=-Kz(t)+v(t) (15)

其中，v(t)＝Kz+ueq+un Among them, v(t)=Kz+u eq + un

则代入式(8)有Substitute into formula (8), we have

Figure BDA00031444061100000413
Figure BDA00031444061100000413

其中，

Figure BDA0003144406110000051
通过设计K使
Figure BDA0003144406110000052
为Hurwitz，则可保证闭环系统稳定；in,
Figure BDA0003144406110000051
By designing K to make
Figure BDA0003144406110000052
is Hurwitz, the closed-loop system can be guaranteed to be stable;

取李雅普洛夫函数为Take the Lyapulov function as

V＝zTPz (17)V=z T Pz (17)

则有then there are

Figure BDA0003144406110000053
Figure BDA0003144406110000053

由控制律式(9)易知，存在t≥t0，s＝BPz(t)＝0成立，即有sT＝zTPB＝0成立，则上式变为It is easy to know from the control law formula (9) that there is t≥t 0 , s=BPz(t)=0 is established, that is, s T =z T PB=0 is established, then the above formula becomes

Figure BDA0003144406110000054
Figure BDA0003144406110000054

为保证

Figure BDA0003144406110000055
需要to guarantee
Figure BDA0003144406110000055
need

Figure BDA0003144406110000056
Figure BDA0003144406110000056

将P-1分别乘以式(19)的左右两边可得Multiplying P -1 by the left and right sides of Equation (19), we can get

Figure BDA0003144406110000057
Figure BDA0003144406110000057

取X＝P-1，则有Take X=P -1 , then we have

Figure BDA0003144406110000058
Figure BDA0003144406110000058

(A-BK)X+X(A-BK)T＜0 (22)(A-BK)X+X(A-BK) T < 0 (22)

取L＝KX，则有Take L=KX, then we have

AX-BL+XAT-LTBT＜0 (23)AX-BL+XA T -L T B T <0 (23)

即有that is

AX+XAT＜BL+LTBT (24)AX+XA T <BL+L T B T (24)

即可协同设计X,K使得系统稳定；X and K can be co-designed to make the system stable;

设计风力发电系统执行器恒偏差故障容错控制；Design the wind power system actuator constant deviation fault fault-tolerant control;

执行器恒偏差故障：Actuator constant deviation fault:

Figure BDA0003144406110000059
Figure BDA0003144406110000059

Figure BDA00031444061100000510
Figure BDA00031444061100000510

其中

Figure BDA00031444061100000511
和
Figure BDA00031444061100000512
分别为发电机输出转矩和输出桨距角的偏差；in
Figure BDA00031444061100000511
and
Figure BDA00031444061100000512
are the deviations of generator output torque and output pitch angle, respectively;

使用一阶动态系统模型进行近似分析描述；Approximate analytical description using a first-order dynamic system model;

Figure BDA00031444061100000513
Figure BDA00031444061100000513

其中β是变桨距系统的实际输出；βd按照控制要求输出桨距角的参考值；τ为一阶系统的时间常数τ。Among them, β is the actual output of the pitch system; β d outputs the reference value of the pitch angle according to the control requirements; τ is the time constant τ of the first-order system.

发电机的电磁转矩的变化对传动系统的影响，可看成一个惯性环节，如式所示；The influence of the change of the electromagnetic torque of the generator on the transmission system can be regarded as an inertia link, as shown in the formula;

Figure BDA00031444061100000514
Figure BDA00031444061100000514

其中，Tg为发电机的电磁转矩；

Figure BDA00031444061100000515
为按照控制要求给出发电机的电磁转矩的参考值，τg为发电机系统系统的时间常数。Among them, T g is the electromagnetic torque of the generator;
Figure BDA00031444061100000515
In order to give the reference value of the electromagnetic torque of the generator according to the control requirements, τ g is the time constant of the generator system.

由式(26)和式(27)可知风力发电执行器模型有：From equations (26) and (27), it can be known that the wind power actuator model is:

Figure BDA00031444061100000516
Figure BDA00031444061100000516

Figure BDA00031444061100000517
Figure BDA00031444061100000517

其中β是变桨距系统的实际输出；βd按照控制要求输出桨距角的参考值；τ为变桨距的时间常数；Tg为发电机的电磁转矩；

Figure BDA00031444061100000518
为按照控制要求给出发电机的电磁转矩的参考值，τg为发电机系统的时间常数。where β is the actual output of the pitch system; β d is the reference value of the output pitch angle according to the control requirements; τ is the time constant of the pitch; T g is the electromagnetic torque of the generator;
Figure BDA00031444061100000518
In order to give the reference value of the electromagnetic torque of the generator according to the control requirements, τ g is the time constant of the generator system.

整理式上式有The above formula has

Figure BDA0003144406110000061
Figure BDA0003144406110000061

其中in

Figure BDA0003144406110000062
Figure BDA0003144406110000062

当风力发电系统发生执行器恒偏差故障的时候，结合式(28)式(7)和式(25)得：When the actuator constant deviation fault occurs in the wind power generation system, combining Equation (28), Equation (7) and Equation (25), we get:

Figure BDA0003144406110000063
Figure BDA0003144406110000063

其中f(x,t)＝Δ+d，Δ为执行器两个未知的常数输入偏差；Where f(x,t)=Δ+d, Δ is the two unknown constant input deviations of the actuator;

根据等效控制原理，取f(x,t)＝0，则由

Figure BDA0003144406110000064
和
Figure BDA0003144406110000065
可得According to the equivalent control principle, take f(x,t)=0, then by
Figure BDA0003144406110000064
and
Figure BDA0003144406110000065
Available

Figure BDA0003144406110000066
Figure BDA0003144406110000066

取滑模控制率为Taking the sliding mode control rate as

u(t)＝ueq+un u(t)=u eq + un

ueq＝-(BTPB)-1BTPAz(t) (30)u eq = -(B T PB) -1 B T PAz(t) (30)

un＝-(BTPB)-1[|BTPB|δf+ε0]sgn(s)u n = -(B T PB) -1 [|B T PB|δ f +ε 0 ]sgn(s)

其中

Figure BDA0003144406110000067
in
Figure BDA0003144406110000067

证明:prove:

取李雅普诺夫函数有Taking the Lyapunov function as

Figure BDA0003144406110000068
Figure BDA0003144406110000068

则有then there are

Figure BDA0003144406110000069
Figure BDA0003144406110000069

则有

Figure BDA00031444061100000610
then there are
Figure BDA00031444061100000610

设计风力发电系统执行器恒增益故障容错控制；Design the wind power system actuator constant gain fault-tolerant control;

执行器恒增益故障：Actuator constant gain failure:

Figure BDA00031444061100000611
Figure BDA00031444061100000611

Figure BDA00031444061100000612
Figure BDA00031444061100000612

其中

Figure BDA00031444061100000613
和
Figure BDA00031444061100000614
分别为发电机输出转矩和叶片桨距角输出的增益系数；in
Figure BDA00031444061100000613
and
Figure BDA00031444061100000614
are the gain coefficients of generator output torque and blade pitch angle output, respectively;

已知风力发电执行器模型如式(28)所示The known wind power actuator model is shown in equation (28)

Figure BDA00031444061100000615
Figure BDA00031444061100000615

其中in

Figure BDA0003144406110000071
Figure BDA0003144406110000071

风力发电系统发生执行器恒增益故障结合式(33)得The actuator constant gain fault in the wind power generation system is combined with equation (33) to obtain

Figure BDA0003144406110000072
Figure BDA0003144406110000072

其中

Figure BDA0003144406110000076
为执行器的未知恒增益矩阵；in
Figure BDA0003144406110000076
is the unknown constant gain matrix of the actuator;

对式(34)进行离散化有Discretization of Eq. (34) has

x(k+1)＝Gx(k)+Hu(k) (35)x(k+1)=Gx(k)+Hu(k) (35)

其中G＝I+TA，H＝TCB，T为离散系统采样周期；Wherein G=I+TA, H=TCB, T is the sampling period of discrete system;

由式(35)可解得未知增益矩阵为From equation (35), the unknown gain matrix can be solved as

Figure BDA0003144406110000073
Figure BDA0003144406110000073

取平均值有Take the average of

Figure BDA0003144406110000074
Figure BDA0003144406110000074

所以可得故障执行器容错控制率为Therefore, the fault-tolerant control rate of the faulty actuator can be obtained as

u＝C-1ud (38)u = C -1 u d (38)

其中

Figure BDA0003144406110000075
为控制参考值。in
Figure BDA0003144406110000075
is the control reference value.

系统运行步骤：System operation steps:

Step1：推论与证明基于LMI欠驱动滑模控制容错策略；确定风力发电系统线性模型，对执行系统进行简化；定义滑模函数，设计滑模控制器；使用LMI设计对正定矩阵P可保证系统的稳定。Step1: Inference and proof based on the LMI underactuated sliding mode control fault-tolerant strategy; determine the linear model of the wind power generation system to simplify the execution system; define the sliding mode function and design the sliding mode controller; use the LMI to design the positive definite matrix P to ensure the system Stablize.

Step2：风力发电系统发生执行器恒偏差故障时，风力发电系统切入容错控制率(预测控制器2)，系统能达到的强镇定的效果，偏差很快就被抵消，故障很快就能被克服，便使得系统重新进入稳定状态。Step2: When the actuator constant deviation fault occurs in the wind power generation system, the wind power generation system switches to the fault-tolerant control rate (predictive controller 2), the system can achieve a strong stabilization effect, the deviation is quickly offset, and the fault can be quickly overcome. , which makes the system re-enter a stable state.

Step3：风力发电系统发生执行器恒增益故障时，风力发电系统切入容错控制率(预测控制器3)，系统便会重新进入稳定状态；Step3: When the actuator constant gain failure occurs in the wind power generation system, the wind power generation system switches to the fault-tolerant control rate (predictive controller 3), and the system will re-enter a stable state;

上述运行步骤能有效确定风力发电系统执行器故障，通过LMI欠驱动滑模控制容错策略，保证风力发电系统的稳定。The above operation steps can effectively determine the actuator fault of the wind power generation system, and ensure the stability of the wind power generation system through the LMI underactuated sliding mode control fault tolerance strategy.

本发明提出的一种基于LMI欠驱动滑模控制的故障风电系统容错策略，针对风力发电系统的执行器恒偏差故障和执行器恒增益故障，采用基于LMI的欠驱动的故障风电系统的滑模控制策略。先对LMI的欠驱动滑模控制的故障容错控制进行推论与证明，在设计风力发电系统执行器恒偏差故障容错控制和发电系统执行器恒增益故障容错控制。采用基于LMI欠驱动滑模控制的故障风电系统容错策略，能有效地消除执行器故障，使风力发电系统重新达到稳定状态。A fault-tolerant strategy for faulty wind power system based on LMI underactuated sliding mode control proposed by the present invention, for the actuator constant deviation fault and actuator constant gain fault of the wind power generation system, the sliding mode of the underactuated faulty wind power system based on LMI is adopted. Control Strategy. Firstly, the fault-tolerant control of underactuated sliding mode control of LMI is deduced and proved, and then the constant-deviation fault-tolerant control of wind power system actuators and the constant-gain fault-tolerant control of power generation system actuators are designed. The fault tolerance strategy of the faulty wind power system based on LMI underactuated sliding mode control can effectively eliminate the actuator fault and make the wind power system reach a stable state again.

附图说明Description of drawings

本发明有以下附图：The present invention has the following accompanying drawings:

图1风力发电系统结构框图；Fig. 1 structural block diagram of wind power generation system;

图2风力发电系统的多模型预测控制图；Fig. 2 Multi-model predictive control diagram of wind power generation system;

具体实施方式Detailed ways

本发明提出的基于LMI欠驱动滑模控制的多模型风电系统故障诊断与容错方法结合附图及具体实施方式详述如下：The multi-model wind power system fault diagnosis and fault tolerance method based on LMI underactuated sliding mode control proposed by the present invention is described in detail as follows in conjunction with the accompanying drawings and specific implementations:

风力发电系统结构简图，如图1所示；根据其中子系统的分工和协作，可以将风力发电系统划分为四大子系统：气动系统，传动系统，变桨距系统和发电系统；气动系统主要负责将风能转换成机械能，ωt风机转子的转速通过传动系统把机械能传到发电系统，ωg在通过发电机转子的转速产生电能，在此过程当中通常由发电系统控制电磁转矩Tg，通过传动系统传导反馈到气动系统，利用变桨距系统控制风电系统的桨距角β加以辅助，控制风能的转化率，以确保系统能够捕获适量的风能，不至于太大而损坏系统元件，不至于太小导致产能不足。The structure diagram of the wind power generation system is shown in Figure 1; according to the division of labor and cooperation of the subsystems, the wind power generation system can be divided into four subsystems: aerodynamic system, transmission system, pitch system and power generation system; aerodynamic system It is mainly responsible for converting wind energy into mechanical energy. The rotational speed of the ω t fan rotor transmits the mechanical energy to the power generation system through the transmission system. ω g generates electrical energy through the rotational speed of the generator rotor. During this process, the electromagnetic torque T g is usually controlled by the power generation system. , transmit feedback to the aerodynamic system through the transmission system, and use the variable pitch system to control the pitch angle β of the wind power system to assist, control the conversion rate of wind energy, to ensure that the system can capture an appropriate amount of wind energy, and it will not be too large to damage the system components. Not too small to cause insufficient capacity.

风力发电系统的多模型预测控制图，如图2所示；r为参考值，y为风力发电系统的输出值，e1,e2...em为模型误差；风力发电系统的多模型预测控制的思想原理为把复杂非线性风能转换系统转换为几个简单的线性系统，对线性模型设计子预测控制器，由此能够依据设定的切换函数，选择线性系统对应的子预测控制器来对整个系统进行实时控制。The multi-model predictive control diagram of the wind power generation system is shown in Figure 2; r is the reference value, y is the output value of the wind power generation system, e 1 , e 2 ... em are the model errors; the multi-model of the wind power generation system The idea and principle of predictive control is to convert the complex nonlinear wind energy conversion system into several simple linear systems, and design a sub-predictive controller for the linear model, so that the sub-predictive controller corresponding to the linear system can be selected according to the set switching function. to control the entire system in real time.

系统运行，具体运行步骤如下：The system operates, and the specific operation steps are as follows:

Step1：推论与证明基于LMI欠驱动滑模控制容错策略；确定风力发电系统线性模型，对执行系统进行简化；定义滑模函数，设计滑模控制器；使用LMI设计对正定矩阵P可保证系统的稳定。Step1: Inference and proof based on the LMI underactuated sliding mode control fault-tolerant strategy; determine the linear model of the wind power generation system to simplify the execution system; define the sliding mode function and design the sliding mode controller; use the LMI to design the positive definite matrix P to ensure the system Stablize.

Step2：风力发电系统发生执行器恒偏差故障时，风力发电系统切入容错控制率(预测控制器2)，系统能达到的强镇定的效果，偏差很快就被抵消，故障很快就能被克服，便使得系统重新进入稳定状态。Step2: When the actuator constant deviation fault occurs in the wind power generation system, the wind power generation system switches to the fault-tolerant control rate (predictive controller 2), the system can achieve a strong stabilization effect, the deviation is quickly offset, and the fault can be quickly overcome. , which makes the system re-enter a stable state.

Step3：风力发电系统发生执行器恒增益故障时，风力发电系统切入容错控制率(预测控制器3)，系统便会重新进入稳定状态。Step3: When the actuator constant gain failure occurs in the wind power generation system, the wind power generation system switches to the fault-tolerant control rate (predictive controller 3), and the system will re-enter a stable state.

上述运行步骤能有效确定风力发电系统执行器故障，通过LMI欠驱动滑模控制容错策略，保证风力发电系统的稳定。The above operation steps can effectively determine the actuator fault of the wind power generation system, and ensure the stability of the wind power generation system through the LMI underactuated sliding mode control fault tolerance strategy.

针对风力发电系统的执行器故障，采用基于基于LMI欠驱动滑模控制的故障风电系统容错策略，先对LMI欠驱动滑模控制进行推论与证明，在设计风力发电系统执行器恒偏差故障容错控制和发电系统执行器恒增益故障容错控制。Aiming at the actuator fault of the wind power generation system, the fault tolerance strategy of the fault wind power system based on the LMI underactuated sliding mode control is adopted. First, the LMI underactuated sliding mode control is deduced and proved. And power generation system actuator constant gain fault tolerant control.

Claims (1)

1. The fault-tolerant method for the fault wind power system based on LMI under-actuated sliding mode control is characterized in that fault-tolerant control based on LMI under-actuated sliding mode control and wind power generation system actuator design is adopted in the method; firstly, deducing and proving LMI under-actuated sliding mode control; then, actuator constant deviation fault-tolerant control of the wind power generation system and actuator constant gain fault-tolerant control of the wind power generation system are designed for actuator constant deviation fault and actuator constant gain fault, when a certain fault occurs in the system, different active fault-tolerant systems automatically select and switch to corresponding fault-tolerant controllers according to real-time information provided by a fault diagnosis mechanism, and multi-model fault diagnosis is completed; finally, fault-tolerant control is realized through LMI underactuated sliding mode control by constant number deviation and constant gain, so that multi-model fault diagnosis and fault-tolerant control are realized, and the stability of a wind power generation system is guaranteed; the invention is realized as follows:
the failure of an actuator of the wind power generation system is designed, so that the self parameters of the wind power generation system are easy to know and can be determined; the fault of the actuator can be equivalent to the input deviation, and fault tolerance control can be carried out by LMI underactuated sliding mode control aiming at unknown constant number deviation and constant gain;
the LMI under-actuated sliding mode control principle is as follows:
the integrated model of the wind power generation system is a nonlinear strong coupling system with two outputs and two inputs; the overall model is as follows:
Figure FDA0003653725120000011
wherein x is [ ω ═ ωt,ωg,Ttw,Tg,β]T，
Figure FDA0003653725120000012
y＝[ωg,Pg]T，ωtIs the rotational speed, omega, of the fan rotorgFor the rotational speed of the generator rotor, TtwTo transmitMotive mechanism torque, TgIs the electromagnetic torque of the generator and,
Figure FDA0003653725120000013
for giving a reference value, beta, of the electromagnetic torque of the generator in accordance with the control demanddOutputting a reference value, P, for the pitch angle according to the control demandgFor the output power of the system, i is the gear ratio of the gearbox, JtMoment of inertia of low-speed shaft, Cp(lambda, beta) is the wind energy utilization coefficient, lambda is the tip speed ratio, beta is the pitch angle, R is the wind wheel radius, v is the effective wind speed, JgIs the moment of inertia of the high-speed shaft, ksThe stiffness coefficient of the transmission shaft; b issTo be damping coefficient, τgIs the time constant of the system, tau is the time constant of the first order system;
available wind energy torque coefficient:
Figure FDA0003653725120000014
to sum up, combining formula (1) to formula (2), carrying out model linearization processing to a certain working condition, the state space form of the whole model of the wind power system is:
Figure FDA0003653725120000015
the corresponding system parameters are as follows:
Figure FDA0003653725120000021
Figure FDA0003653725120000022
the linear model of the wind power generation system is known from the formula (3):
Figure FDA0003653725120000023
wherein
x＝[ωt,ωg,Ttw,Tg,β]T，
Figure FDA0003653725120000024
y＝[ωg,Pg]T，
Figure FDA0003653725120000025
Figure FDA0003653725120000026
Figure FDA0003653725120000027
Wherein,
Figure FDA0003653725120000031
and
Figure FDA0003653725120000032
respectively, a value of a system-related parameter, T, at the measured wind speedtIs an aerodynamic torque;
because the execution system is a first-order system, the execution system is simplified as follows:
Figure FDA0003653725120000033
wherein d is1，d2Are respectively x1，x2Up to the input reference value u1，u2Previous jitter;
the combination formula (3) is as follows:
Figure FDA0003653725120000034
let the state reference value be xd＝[x1d,x2d,x3d]T，xd＝0，z＝x-xdThen, there are:
Figure FDA0003653725120000035
finishing to obtain:
Figure FDA0003653725120000036
wherein z is x-xd＝[x1,x2,x3]T-[x1d,x2d,x3d]T，
Figure FDA0003653725120000037
Defining a sliding mode function as
s＝BTPz (8)
Wherein, P is a positive definite matrix of 3X3 order, and s is 0 by the design of P;
design sliding mode controller
u(t)＝ueq+un (9)
According to the principle of equivalent control, if d is equal to 0, then
Figure FDA0003653725120000038
And
Figure FDA0003653725120000039
can obtain the product
Figure FDA00036537251200000310
Thereby, the device
ueq＝-(BTPB)-1BTPAz(t) (10)
To ensure
Figure FDA00036537251200000311
Taking robust control items
un＝-(BTPB)-1[|BTPB|δf+ε0]sgn(s) (11)
Wherein
Figure FDA00036537251200000312
ε0＞0；
Taking the Lyapunov function
Figure FDA0003653725120000041
Then there is
Figure FDA0003653725120000042
The combinations of formula (8), formula (12) and formula (13) have
Figure FDA0003653725120000043
Design of P with LMI
Solving a symmetrical positive definite matrix P in the control law, and writing a control law formula (9) into
u(t)＝-Kz(t)+v(t) (15)
Wherein v (t) ═ Kz + ueq+un
Then the formula (8) is substituted by
Figure FDA0003653725120000044
Wherein,
Figure FDA0003653725120000045
by designing K to
Figure FDA0003653725120000046
Hurwitz can ensure the stability of a closed loop system;
taking the Lyapunov function as
V＝zTPz (17)
Then there is
Figure FDA0003653725120000047
As is apparent from the control law equation (9), t.gtoreq.t0Where s bpz (t) is true, i.e. sT＝zTWhen PB is 0, the above equation becomes
Figure FDA0003653725120000048
To ensure
Figure FDA0003653725120000049
Need to make sure that
Figure FDA00036537251200000410
Will P-1Multiplying the left and right sides of the formula (19) respectively to obtain
Figure FDA00036537251200000411
Taking X as P-1Then there is
Figure FDA00036537251200000412
(A-BK)X+X(A-BK)T＜0 (22)
If L is KX, then
AX-BL+XAT-LTBT＜0 (23)
Namely have
AX+XAT＜BL+LTBT (24)
Namely, X and K can be cooperatively designed to stabilize the system;
designing constant deviation fault tolerance control of an actuator of the wind power generation system;
constant deviation fault of the actuator:
Figure FDA00036537251200000413
wherein
Figure FDA0003653725120000051
And
Figure FDA0003653725120000052
deviation of the generator output torque and output pitch angle respectively;
carrying out approximate analysis description by using a first-order dynamic system model;
Figure FDA0003653725120000053
where β is the actual output of the pitch system; beta is a betadOutputting reference values of the pitch angles according to control requirements; τ is the time constant τ of the first order system;
the influence of the change of the electromagnetic torque of the generator on a transmission system can be regarded as an inertia link as shown in the formula;
Figure FDA0003653725120000054
wherein, TgIs the electromagnetic torque of the generator;
Figure FDA0003653725120000055
to give a reference value, τ, of the electromagnetic torque of the generator in accordance with the control demandgIs the time constant of the generator system;
from the equations (26) and (27), the wind turbine actuator model includes:
Figure FDA0003653725120000056
Figure FDA0003653725120000057
wherein β is the actual output of the pitch system; beta is a betadOutputting reference values of the pitch angles according to control requirements; tau is the time constant of the variable pitch; t is a unit ofgIs the electromagnetic torque of the generator;
Figure FDA0003653725120000058
to give a reference value, τ, of the electromagnetic torque of the generator in accordance with the control requirementsgIs the time constant of the generator system;
arranged in an upper formula has
Figure FDA0003653725120000059
Wherein
Figure FDA00036537251200000510
When the wind power generation system has the constant deviation fault of the actuator, combining the formula (28) and the formula (7) and the formula (25) can be obtained:
Figure FDA00036537251200000511
wherein f (x, t) is delta + d, delta is two unknown constant input deviations of the actuator;
according to the equivalent control principle, if f (x, t) is equal to 0, the control method is characterized in that
Figure FDA00036537251200000512
And
Figure FDA00036537251200000513
can obtain
Figure FDA00036537251200000514
The sliding mode taking control rate is
Figure FDA00036537251200000515
Wherein
Figure FDA00036537251200000516
And (3) proving that:
taking the Lyapunov function has
Figure FDA00036537251200000517
Then there is
Figure FDA0003653725120000061
Then there is
Figure FDA0003653725120000062
Designing constant-gain fault-tolerant control of an actuator of the wind power generation system;
actuator constant gain failure:
Figure FDA0003653725120000063
wherein
Figure FDA0003653725120000064
And
Figure FDA0003653725120000065
gain coefficients respectively output for the generator output torque and the blade pitch angle;
the known wind power generation actuator model is shown as a formula (28)
Figure FDA0003653725120000066
Wherein
Figure FDA0003653725120000067
Constant gain fault combined type (33) generator/actuator for wind power generation system
Figure FDA0003653725120000068
Wherein
Figure FDA00036537251200000612
An unknown constant gain matrix for the actuator;
discretizing the formula (34) has
x(k+1)＝Gx(k)+Hu(k) (35)
Wherein G is I + TA, H is TCB, and T is a discrete system sampling period;
from equation (35), the unknown gain matrix is solved as
Figure FDA0003653725120000069
Take the average value of
Figure FDA00036537251200000610
So that the fault-tolerant control rate of the available fault actuator is
u＝C-1ud (38)
Wherein
Figure FDA00036537251200000611
Is a control reference value;
the system operation step:
step 1: deducing and proving an LMI-based under-actuated sliding mode control fault-tolerant strategy; determining a linear model of the wind power generation system, and simplifying an execution system; defining a sliding mode function and designing a sliding mode controller; the stability of the system can be ensured by using the LMI design to the regular matrix P;
step 2: when the wind power generation system has constant deviation fault of the actuator, the wind power generation system is switched into the fault-tolerant control rate-prediction controller 2, the system can achieve a strong stabilizing effect, the deviation can be counteracted quickly, the fault can be overcome quickly, and the system can enter a stable state again;
step 3: when the wind power generation system has an actuator constant gain fault, the wind power generation system is switched into the fault-tolerant control rate-prediction controller 3, and the system enters a stable state again;
the operation steps can effectively determine the fault of the actuator of the wind power generation system, and the stability of the wind power generation system is ensured through an LMI underactuated sliding mode control fault tolerance strategy;
in the invention, a fault wind power system fault-tolerant strategy based on LMI under-actuated sliding mode control is adopted to carry out reasoning and demonstration on the LMI under-actuated sliding mode control, and the constant deviation fault-tolerant control of an actuator of a wind power generation system and the constant gain fault-tolerant control of the actuator of the wind power generation system are designed; when the wind power generation system has actuator constant deviation fault and actuator constant gain fault, the fan will cut in the fault-tolerant control rate, the deviation and gain will be counteracted quickly, the fault will be overcome quickly, and the system will enter the stable state again.
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